课程信息
4.9
27 个评分
7 个审阅
专项课程
100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为16 小时

建议:This course requires 4 weeks of study of approximately 3-5 hours/week....
可选语言

英语(English)

字幕:英语(English)
专项课程
100% 在线

100% 在线

立即开始,按照自己的计划学习。
可灵活调整截止日期

可灵活调整截止日期

根据您的日程表重置截止日期。
中级

中级

完成时间(小时)

完成时间大约为16 小时

建议:This course requires 4 weeks of study of approximately 3-5 hours/week....
可选语言

英语(English)

字幕:英语(English)

教学大纲 - 您将从这门课程中学到什么

1
完成时间(小时)
完成时间为 3 小时

Chapter 4: Forward Kinematics

Product of exponentials formula for forward kinematics in the space frame and the end-effector frame....
Reading
3 个视频 (总计 15 分钟), 2 个阅读材料, 4 个测验
Video3 个视频
Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4分钟
Forward Kinematics Example3分钟
Reading2 个阅读材料
Welcome to Course 2, Robot Kinematics10分钟
Chapter 4, Forward Kinematicss
Quiz4 个练习
Lecture Comprehension, Product of Exponentials Formula in the Space Frame (Chapter 4 through 4.1.2)6分钟
Lecture Comprehension, Product of Exponentials Formula in the End-Effector Frame (Chapter 4.1.3)4分钟
Lecture Comprehension, Forward Kinematics Example2分钟
Chapter 4, Forward Kinematics20分钟
2
完成时间(小时)
完成时间为 5 小时

Chapter 5: Velocity Kinematics and Statics

Velocity kinematics using the space Jacobian and body Jacobian, statics of open chains, singularities, and manipulability....
Reading
6 个视频 (总计 34 分钟), 1 个阅读材料, 7 个测验
Video6 个视频
Space Jacobian (Chapter 5.1 through 5.1.1)5分钟
Body Jacobian (Chapter 5.1.2 through 5.1.4)4分钟
Statics of Open Chains (Chapter 5.2)2分钟
Singularities (Chapter 5.3)6分钟
Manipulability (Chapter 5.4)5分钟
Reading1 个阅读材料
Chapter 5, Velocity Kinematics and Staticss
Quiz7 个练习
Lecture Comprehension, Velocity Kinematics and Statics (Chapter 5 Introduction)14分钟
Lecture Comprehension, Space Jacobian (Chapter 5.1 through 5.1.1)12分钟
Lecture Comprehension, Body Jacobian (Chapter 5.1.2 through 5.1.4)4分钟
Lecture Comprehension, Statics of Open Chains (Chapter 5.2)2分钟
Lecture Comprehension, Singularities (Chapter 5.3)6分钟
Lecture Comprehension, Manipulability (Chapter 5.4)6分钟
Chapter 5, Velocity Kinematics and Statics30分钟
3
完成时间(小时)
完成时间为 5 小时

Chapter 6: Inverse Kinematics

Analytical and numerical inverse kinematics....
Reading
3 个视频 (总计 14 分钟), 1 个阅读材料, 5 个测验
Video3 个视频
Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)5分钟
Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)4分钟
Reading1 个阅读材料
Chapter 6, Inverse Kinematics30分钟
Quiz4 个练习
Lecture Comprehension, Inverse Kinematics of Open Chains (Chapter 6 Introduction)4分钟
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 1 of 2)8分钟
Lecture Comprehension, Numerical Inverse Kinematics (Chapter 6.2, Part 2 of 2)2分钟
Chapter 6, Inverse Kinematics30分钟
4
完成时间(小时)
完成时间为 2 小时

Chapter 7: Kinematics of Closed Chains

Forward kinematics, inverse kinematics, velocity kinematics, and statics of closed chains....
Reading
1 个视频 (总计 9 分钟), 1 个阅读材料, 2 个测验
Reading1 个阅读材料
Chapter 7, Kinematics of Closed Chainss
Quiz2 个练习
Lecture Comprehension, Kinematics of Closed Chains (Chapter 7)2分钟
Chapter 7, Kinematics of Closed Chains20分钟
4.9
7 个审阅Chevron Right

热门审阅

创建者 SSOct 1st 2018

It is a great start for learning kinematics of open chain robots, i wish i could learn ore about the closed chain robots too, but they have given the boost, now its your turn to learn more and more

创建者 JMDec 10th 2018

More difficult that most Coursera offerings. Lots and lots of glorious math!\n\nI really enjoyed it.

讲师

Avatar

Kevin Lynch

Professor
Mechanical Engineering

关于 Northwestern University

Northwestern University is a private research and teaching university with campuses in Evanston and Chicago, Illinois, and Doha, Qatar. Northwestern combines innovative teaching and pioneering research in a highly collaborative environment that transcends traditional academic boundaries. ...

关于 Modern Robotics: Mechanics, Planning, and Control 专项课程

This Specialization provides a rigorous treatment of spatial motion and the dynamics of rigid bodies, employing representations from modern screw theory and the product of exponentials formula. Students with a freshman-level engineering background will quickly learn to apply these tools to analysis, planning, and control of robot motion. Students' understanding of the mathematics of robotics will be solidified by writing robotics software. Students will test their software on a free state-of-the-art cross-platform robot simulator, allowing each student to have an authentic robot programming experience with industrial robot manipulators and mobile robots without purchasing expensive robot hardware. It is highly recommended that Courses 1-6 of the Specialization are taken in order, since the material builds on itself....
Modern Robotics:  Mechanics, Planning, and Control

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